CN1313353C - Loading control method and apparatus for crane - Google Patents
Loading control method and apparatus for crane Download PDFInfo
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- CN1313353C CN1313353C CNB021186847A CN02118684A CN1313353C CN 1313353 C CN1313353 C CN 1313353C CN B021186847 A CNB021186847 A CN B021186847A CN 02118684 A CN02118684 A CN 02118684A CN 1313353 C CN1313353 C CN 1313353C
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention relates to a loading control method and a loading control device for a crane capable of executing the landing with high accuracy even in the cases when a position of a trolley of a hanger rope is variable because of the deformation and oscillation of a machine body, and when a hanger rope system can not be regarded as a single pendulum, and shortening a time necessary for the landing. The periodical displacement of a horizontal position of a hoisting accessory is estimated, and a lowering speed of the hoisting accessory is controlled so that the hoisting accessory or a suspended load (suspended container Ca) gripped by the hoisting accessory is landed on a target stacking position (objective container Cb) at a time when the amplitude of the periodical displacement is maximized, to land the hoisting accessory or the suspended load.
Description
Technical field
The present invention relates to the loading control method of hoisting crane and load control setup, particularly relate to the loading control method of such hoisting crane and load control setup, this method and apparatus is that target positions to the suspender with hoisting crane, fall to putting loading, or the loading that positions that load is target of hanging that is clamped on the suspender.
Background technology
Freight container is carried out loading hoisting crane (the container transshipment hoisting crane of layer dress.The back claims transshipment crane) be its representative type equipment, can position the suspender or the load of hanging that is clamped on the suspender facing to intended target, suspender or fall to putting and load the hoisting crane hang load and have the chassis (chassis traverses) that moves along the beam horizontal direction of hoisting crane body, the suspender that load is hung in supporting is hung from the chassis that traverses by lifting rope, by be placed on the chassis or on the hoisting crane bont of appropriate position reel, decontrol lifting rope lifting suspender.
Facing to intended target the suspender or the load of hanging that is clamped on the suspender are being positioned, to suspender or hang load fall to putting, when loading, fall to putting must control when loading so that suspender or be clamped on the suspender hang load and the target location does not produce horizontal-shift.As carrying out this technology that falls to putting control, opened in the flat 10-120362 communique the spy and disclosed.
Open the control setup that falls to putting shown in the flat 10-120362 communique the spy and hang load each oscillating quantity constantly in the horizontal direction by detectors measure, the time of utilization by oscillating quantity change calculate hang the load swing speed, be prediction computing level attitude in the future on the basis of sinusoidal waveform motion of single pendulum at the horizontal motion that load is hung in supposition.The suspender that calculates like this future the position if consistent with the target location, then control the descending speed of suspender in conjunction with the timing of prediction, hang the control that load arrives correct target location thereby make.
As previously mentioned, the spy open shown in the flat 10-120362 communique fall to putting control setup supposition as prediction hang load future level attitude model be the fixing single pendulum of suspension centre.In addition, open to fall to putting in the control setup shown in the flat 10-120362 communique the spy, falling to putting control period, chassis can not participate in hanging the horizontal direction position control of load in a certain position.
Yet, by spy falling to putting in the control setup of opening that flat 10-120362 communique discloses by rope with hang the system that load constitutes and thinking that with the method that the single pendulum model is similar to hoisting crane body rigidity is very strong, it is no problem under the situation of the suspension centre of lifting rope to have firmly fixed on the chassis, but it is relatively poor in hoisting crane body rigidity, not under the situation of the supporting-point of the rope on the chassis as attachment point, if when hanging the motion of load and tethered system so that simple single pendulum model is approximate, then can make the position prediction value of hanging in the future produce bigger error, thereby when falling to putting, hang load with below the horizontal direction relative position of load can produce unallowed deviation.At the hoisting crane as research object is to have under the situation of the portal crane of higher pillar or running on wheels type hoisting crane, and the variation of the chassis position that is produced by the distortion or the squeegee action of corbeling is bigger, can not ignore.
In addition, owing to hang on the rope of load, set up and have the auxiliary ropes that is obliquely installed etc., so that apply the power of horizontal direction and obtain only to put effect to hanging load in supporting, therefore under the situation of the simple single pendulum model of supposition, when hanging load position, prediction can occur than mistake.
In addition, open the spy and to fall to putting in the control shown in the flat 10-120362 communique, though, fixing the chassis position, i.e. supporting is hung under the condition of position of the fulcrum of rope of load, the decline that load is hung in control regularly to face toward the moment of target location in allowed band consistent so that it is with the horizontal direction position of hanging load, but in the chassis position with become when having big horizontal deflection between the ground container position that falls to putting target, must carry out the correction of chassis position simultaneously.But, following the position correction of chassis can produce the horizontal motion of new suspender, so will inevitably the position in future of predicting aforementioned suspender be exerted an influence, the result falls to putting time lengthening required in the control.
Summary of the invention
The present invention develops for addressing the above problem, even with the lower hoisting crane of housing construction rigidity or running on wheels type hoisting crane such in the chassis position of lifting rope because of body deformation, under the situation of swinging and changing and not the lifting rope system is treated as under the situation of simple harmonic motion, also can fall to putting accurately, and realize shortening fall to putting required time fall to putting, loading is controlled to be purpose, and provide and can realize the automation of high efficiency hoisting crane, and by the work that alleviates crane driver improve handling efficiency fall to putting, load control method and load control setup.
In order to achieve the above object, the loading control method of the hoisting crane of first aspect present invention comprises: the chassis that moves in the horizontal direction; Suspender, it is hung oneself down from described chassis by lifting rope, and passes through to realize lifting by coiling, the relieving of the described lifting rope of bont generation.This method is by the periodicity displacement of the described suspender level attitude of prediction, control the descending speed of described suspender, carry out suspender or hang load fall to putting, become the maximum moment in the amplitude of oscillation of described periodicity displacement, make described suspender or the load of hanging that is clamped on this suspender falls to being placed on and loads on the target location.
According to the present invention, the teeter of prediction suspender under the state that container crane is hung on the suspender reaches constantly maximum in the periodicity displacement amplitude of oscillation of the level attitude of suspender, and being that zero suspender teeter is maximum at the swing speed of suspender promptly constantly falls to putting.
In addition, the loading control method of the hoisting crane of second aspect present invention comprises: the chassis that moves in the horizontal direction; Suspender, it is hung oneself down from described chassis by lifting rope, and passes through to realize lifting by coiling, the relieving of the described lifting rope of bont generation.This method comprises following operation: hang load position control operation, it predicts the periodicity displacement of described suspender level attitude, with with the relative out-of-position position, target location of loading of maximum amplitude of oscillation a great deal of of described periodicity displacement as the chassis stop position, give described chassis location and it stopped; Hang load descending speed control operation, it controls the descending speed of described suspender, carry out suspender or hang load fall to putting, the amplitude of oscillation in the periodicity displacement of the suspender level attitude of described prediction becomes the maximum moment, makes described suspender or the load of hanging that is clamped on this suspender falls to being placed on and loads on the target location.
According to the present invention, the teeter of prediction suspender under the state that container crane is hung on the suspender, the amplitude of oscillation in the periodicity displacement of the level attitude of suspender reaches constantly maximum, and being that zero suspender teeter is maximum at the swing speed of suspender promptly constantly falls to putting.In addition, with prediction fall to putting the time aforementioned suspender the lateral oscillations momentum facing to the out-of-position position of targeted containers as the chassis stop position to the chassis location and it is stopped, making up and down thus, the horizontal deflection of freight container is controlled in the permissible value.
The loading control method of the hoisting crane of third aspect present invention is in the loading control method of first aspect present invention or the described hoisting crane of the third aspect, detect the shift position of exclusive disjunction chassis, the moving velocity of chassis, the level attitude displacement of suspender, the level attitude velocity of displacement of suspender, the speed command of chassis, the hoisting depth of suspender, hang data such as load weight, for at least one or the combination of these data in these data, by by constructing with hoisting crane, the driver train of chassis and control, at least one key element in the key element that the level attitude displacement of hanging load of lifting rope etc. etc. are correlated with or the simulation model that constitutes of these key elements are predicted the level attitude displacement of the described suspender of computing.
According to the present invention, because by by carrying out the prediction computing of the level attitude displacement of suspender with the simulation model that constitutes that crane structure, chassis driving device and control, lifting rope etc. are hung at least one key element in the relevant key element of the level attitude displacement etc. of load or these key elements, therefore, the work that need not crane driver just can make the horizontal deflection of freight container up and down be controlled at effectively to carry out in the permissible value and suitable fall to putting.
The loading control setup of the hoisting crane of fourth aspect present invention comprises: the chassis that moves in the horizontal direction; Suspender, it is hung oneself down from described chassis by lifting rope, and passes through to realize lifting by coiling, the relieving of the described lifting rope of bont generation; The prediction and calculation device, it predicts the periodicity displacement of described suspender level attitude; Maximum arithmetical device constantly, its amplitude of oscillation that calculates described periodicity displacement becomes the maximum moment; Hang load descending speed control setup, it controls the descending speed of described suspender, carry out suspender or hang load fall to putting so that the described suspender or the load of hanging that is clamped on this suspender fall to being placed on to load on the target location.
According to the present invention, the teeter of prediction suspender under the state that container crane is hung over suspender, since be swing speed at suspender to be that zero suspender teeter is maximum constantly fall to putting, therefore, need not to wait for does not have teeter just can carry out suitable falling to putting.
The loading control setup of the hoisting crane of fifth aspect present invention comprises: the chassis that moves in the horizontal direction; Suspender, it is hung oneself down from described chassis by lifting rope, and passes through to realize lifting by coiling, the relieving of the described lifting rope of bont generation; The prediction and calculation device, it predicts the periodicity displacement of described suspender level attitude; Maximum amplitude of oscillation arithmetical device, it calculates the maximum amplitude of oscillation of described periodicity displacement; Hang the load position control setup, it is with the relative stop position that loads the out-of-position position of target location as chassis with its maximum amplitude of oscillation a great deal of, with the location of described chassis and it is stopped; Maximum arithmetical device constantly, its amplitude of oscillation that calculates the periodicity displacement of described level attitude becomes the maximum moment; Hang load descending speed control setup, it controls the descending speed of described suspender, carry out suspender or be clamped on this suspender hang load fall to putting so that the described suspender or the load of hanging that is clamped on this suspender fall to being placed on to load on the target location.
According to the present invention, the teeter of prediction suspender under the state that container crane is hung on the suspender reaches in the amplitude of oscillation of the periodicity displacement of the level attitude of suspender that maximum to be that zero suspender teeter is maximum at the swing speed of suspender promptly constantly constantly fall to putting.In addition, with prediction fall to putting the time the lateral oscillations momentum of aforementioned suspender giving the location of chassis and it stopped as the chassis stop position facing to the out-of-position position of targeted containers, making up and down thus, the horizontal deflection of freight container is controlled in the permissible value.
The loading control setup of the hoisting crane of sixth aspect present invention is in the loading control setup of the hoisting crane described in fourth aspect present invention or the fourth aspect, also comprise: the location computing device of the shift position of computing chassis, calculate the speed arithmetical device of the moving velocity of chassis, calculate the displacement arithmetical device of the level attitude displacement of suspender, calculate the velocity of displacement arithmetical device of the level attitude velocity of displacement of suspender, calculate the speed command arithmetical device of the speed command of chassis, calculate the height arithmetical device of the hoisting depth of suspender, calculate the loading arithmetical device of hanging load weight, for described shift position, described moving velocity, described displacement, described velocity of displacement, described speed command, in described hoisting depth and the described loading at least one, calculate by constructing with hoisting crane, chassis driver train and control, lifting rope is hung the model calculation device of the simulation model that at least one key element in the relevant key element of the level attitude displacement of load constitutes, and described prediction and calculation device is predicted the level attitude displacement of the described suspender of computing by described simulation model.
According to the present invention, because by by carrying out the prediction computing of the level attitude displacement of suspender with the simulation model that constitutes that crane structure, chassis driving device and control, lifting rope etc. are hung at least one key element in the relevant key element of the level attitude displacement etc. of load or these key elements, therefore, the work that need not crane driver just can make the horizontal deflection of freight container up and down be controlled at effectively to carry out in the permissible value and suitable fall to putting.
Description of drawings
Fig. 1 is the conforming instruction diagram of level attitude when falling to putting about the loading control Device Testing among the present invention;
Fig. 2 hangs the instruction diagram of load position target about the computing of the loading control device among the present invention;
Fig. 3 hangs the load descending speed and the timer-operated instruction diagram that descends about the control of loading the control assembling device among the present invention;
Fig. 4 represents the integrally-built block diagram of the container handling crane of suitable loading control setup of the present invention;
Fig. 5 is the spreader position control system block diagram that loads control setup among the present invention;
Fig. 6 be load control setup among the present invention hang load descending speed block diagram;
Fig. 7 is the instruction diagram that expression the present invention loads prediction and calculation device structure in the control device.
The specific embodiment
Below, with the order of the form of summary of the present invention, present embodiment, with reference to accompanying drawing to the loading control method that relates to hoisting crane of the present invention and load control setup and describe.
The loading control method of hoisting crane of the present invention and loading control setup comprise: the chassis that moves in the horizontal direction; Suspender, it is hung oneself down from chassis by lifting rope, and realizes lifting by coiling, the relieving of the described lifting rope that produced by bont.Carry out suspender or hang load fall to putting the time, the periodicity displacement of prediction suspender level attitude, control the descending speed of described suspender, become moment, make suspender or be clamped in hanging load and can fall to being placed on cargo-carring target location on this suspender for maximum in the amplitude of oscillation of periodicity displacement.
At this, before the explanation embodiments of the invention, situation with " in the freight container place, by transshipment crane freight container (call later on and hang freight container or the hang load) layer that is clamped on the suspender being contained on the freight container (calling the object set vanning later on) that is positioned over assigned position place, container yard ground " is that example is come illustrative the present invention.
Transshipment crane comprises: the chassis that along continuous straight runs moves; Suspender, it is hung oneself down from described chassis by lifting rope, and realizes lifting by coiling, the relieving by the lifting rope that is assemblied in the bont generation.
The following description is for making suspender fall to being placed on to be positioned over the operation on the freight container at assigned position place and the operation of hanging container loading assigned position place in the container loading place all being suitable for.In addition, if the description that relates to suspender in the following description is without particular limitation, and suspender is for the clamping freight container or hang the situation of load and clamping freight container or the situation of hanging load all are not suitable for.Equally, relate to the description of hanging freight container or hanging load if without particular limitation, even suspender also is suitable for for the clamping freight container not or the situation of hanging load.
In the loading control method of hoisting crane of the present invention, at any time instrumentation is hung the current level attitude displacement (teeter) and the level attitude velocity of displacement (teeter speed) of freight container, chassis position and moving velocity thereof, hang container height and descending speed thereof etc., to these instrumentation values, utilization by with this crane structure (containing traveling tire), the working condition of chassis drive mechanism, and the modeled simulation models such as dynamic operation condition of the relevant key element of the level attitude displacement of hanging freight container of the working condition of lifting rope (contain and only put auxiliary rope) etc. are hung the freight container prediction computing of level attitude in the future.
By the aforementioned prediction computing that utilizes the aforementioned computing value of hanging the horizontal direction position displacement of freight container and the velocity of displacement of horizontal direction position etc. to carry out, the horizontal direction position displacement that freight container is hung in computing arrives the desired time of the predefined amplitude of oscillation from the current time.Simultaneously, the prediction computing if this deviation exceeds permissible value, then needs mobile trolley used position to reduce the level attitude deviation loading the level attitude deviation of hanging freight container and object set vanning of the target amplitude of oscillation.The moving direction of chassis, moving velocity, acceleration/accel etc. are the structures (containing traveling tire) by aforementioned freight container, and the model of the dynamic duty situation of the working condition of chassis drive mechanism and lifting rope (contain and only put auxiliary rope) etc. calculates.
On the other hand, that calculates each moment hangs freight container with respect to object set short transverse position deviation of casing and the descending speed of hanging freight container, employing is hung the prediction arithmetical device that freight container falls to being placed on the time in the object set vanning according to these operation values predictions, the control timing of hanging the descending speed of freight container and changing this speed, to fall to being placed on the predicted time of object set on casing consistent so that arrive the required time predictor of the aforementioned loading target amplitude of oscillation from the current time and hang freight container.
Though the result of above-mentioned level attitude prediction computing of hanging freight container is horizontal motion periodically, in the time of under which type of amplitude of oscillation state of periodicity level attitude displacement, can falling to being placed on this problem in the object set vanning and fall to putting to hang freight container and the object set relative position deviation precision between casing relevant.Usually, be zero or amplitude of oscillation when maximum in the amplitude of oscillation, should fall to putting control so that to hang freight container consistent with the level attitude of object set vanning.
Fig. 1 has illustrated and has fallen to being placed on hanging freight container that object set vanning is gone up and when making the control of both level attitude unanimities, be 0 and carry out the situation of level attitude consistency detection that with the amplitude of oscillation variation of the amplitude of oscillation of the horizontal motion of swinging in the freight container is hung in curve 51 expressions with the maximum amplitude of oscillation.Among this figure 52 represents current time, and 53 amplitudes of oscillation corresponding to this horizontal motion become the maximum moment, 54 moment corresponding to this amplitude of oscillation minimum.In addition, S51 represents to be changed to from current time the time of the minimum amplitude of oscillation, and S52 represents to be changed to from current time the time of the maximum amplitude of oscillation.
It is 0 o'clock, the position and the deviation of hanging container position of object set vanning that S53 among this figure is illustrated in the horizontal motion amplitude of oscillation of hanging freight container, object container position when S54 represents the corresponding described maximum amplitude of oscillation and the deviation of hanging container position.Promptly under the amplitude of oscillation with the detection level position consistency is set at 0 situation, must carry out the lifting rope resting point position adjustment with the S53 a great deal of, and be set under the situation of the maximum amplitude of oscillation, must carry out lifting rope resting point position adjustment with the S54 a great deal of.
With reference to accompanying drawing 2 and Fig. 3 the work that above-described hoisting crane loads control method and loads control setup is described.The loading control method of hoisting crane and loading control setup are made of following four kinds of computings and control process among the present invention, that is:
1) the prediction computing of the horizontal direction position of hanging freight container of carrying out of the dynamicmodel by current service contamination and hoisting crane operating mode;
2), the horizontal direction position deviation of hanging the vanning of freight container and object set is controlled at the control of the chassis position in the permissible value in the predefined loading target amplitude of oscillation;
3) hang the prediction computing that falls to putting the time that container height position and descending speed carry out by current;
4) hang freight container and descend regularly and the control of speed, be used for, load the target amplitude of oscillation constantly reaching, make and hang freight container and fall to being placed on object set cases according to the position prediction of hanging freight container.
By each detection data constantly, carry out said process 1 at ordinary times) hang prediction of freight container level attitude and process 3) fall to putting time prediction.
Process 2) and process 4) be controlled at and hang the reasonable time of freight container in object set vanning descends and carry out, carry out process 2) after carry out process 4 again).
Fig. 2 has illustrated said process 2) work.Fig. 2 has represented the action in control chassis position when loading the target amplitude of oscillation as the maximum amplitude of oscillation.In the figure, S61 is the maxim of the amplitude of oscillation of hanging the periodicity displacement of freight container horizontal direction position, and is obtained by aforementioned prediction computing of hanging the freight container horizontal direction.S62 among this figure is non-oscillatory deviation of hanging the level attitude of freight container and object set vanning.Therefore, essential chassis amount of movement is the poor of S61 and S62.
, if make chassis move aforementioned amount of movement, then can in hanging freight container, produce new swing (level attitude displacement), and can produce the new position deviation that accompanies therewith.The mobile controlling models of the dynamic operation condition model and the chassis of hoisting crane is housed in the inside of chassis position control process, and the mobile simulation of hanging the level attitude prediction of freight container of following chassis by these models, correction makes chassis move to suitable position to the specified speed of chassis drive controlling with the new swing of hanging freight container of correspondence prediction.
Fig. 3 illustrated to the decline of hanging freight container regularly, after descending speed is controlled, with respect to the object set vanning, with the level attitude deviation delta D that allows the carrying out of hanging freight container fallen to putting control action.In addition, the figure shows to make and hang moment that freight container falls to being placed on object set vanning and carry out the situation of level attitude consistency detection in the maximum amplitude of oscillation.
The Ts of this figure falls to putting time to the object set vanning for the freight container of hanging of hanging container height position instrumentation value and descending speed instrumentation value prediction by current time.In the moment behind Ts, by the aforementioned level attitude prediction service contamination of hanging freight container, the level attitude displacement of hanging freight container can not reach the maximum amplitude of oscillation.Therefore, should be set in and hang the time Δ T that postpones before freight container falls to putting, by only postponing to set descending speed falling to putting and fall to putting between the timing error Δ A, and carry out computing that bont is exported what allow for the time of putting that falls of described time Δ T.
In addition, permission fall to putting timing error Δ A be by will hang container loading in object set vanning the time permission horizontal direction deviation delta D and the swing horizontal direction change in location state of hanging freight container determine.
Hang the prediction computing of the horizontal direction position of freight container, the computing that reaches the temporal calculation of the maximum amplitude of oscillation and fall to putting required time by hanging container position and moving velocity, hanging the position of container height direction and the instrumentation value of descending speed and the dynamic operation condition model of hoisting crane and carry out constantly, can change by its result and to hang freight container and descend regularly and the control of speed, can be implemented in thus and will hang freight container in the level attitude deviation of permission and be placed on control in the object set vanning.
According to this control, can realize reflecting the hoisting crane body deformation and end the high-precision loading of pendulum with influences such as auxiliary ropes, and by control desk car position the position of hanging freight container and object set vanning is coincide, can under the situation of the oscillation period that does not influence lifting rope, shorten thus and load the desired time.
In addition, in the loading control of this container handling crane, the maximum amplitude of oscillation for the level attitude displacement of hanging freight container, if hang freight container and fall to being placed on object set vanning and constantly carry out the conforming detection of level attitude making, then can further improve when falling to putting the level attitude precision of freight container up and down.
Promptly owing to the horizontal motion of hanging freight container is the motion of near sinusoidal ripple, therefore near the phase place of the maximum amplitude of oscillation, horizontal direction speed is 0 or is approximately 0.Like this reach by the error of hanging the computing of freight container horizontal direction position prediction, up to the timing of the maximum amplitude of oscillation of generations such as the prediction arithmetical error of the fall time that falls to putting or decline departure and hang freight container fall to putting regularly between the influence of the error that produces under the situation of carrying out two freight container level attitude consistency detection with the maximum amplitude of oscillation, become minimum.Promptly when the maxim of the amplitude of oscillation of the level attitude displacement of hanging freight container,, then can reduce to hang horizontal direction position deviation between freight container and the object set vanning than the situation of other amplitude of oscillation if carry out two conforming detections of freight container level attitude.
As mentioned above, hang the level attitude prediction computing of freight container, the amplitude of oscillation of hanging the level attitude displacement of freight container and reach maximum temporal calculation, fall to putting the freight container of hanging that institute will equal to reach the time of the maximum amplitude of oscillation time and descend regularly and the control of descending speed, and the control that in the maximum amplitude of oscillation level attitude of hanging freight container and object set vanning is coincide behind the mobile trolley used position can be carried out wherein one at least or their is made up.
Though above explanation is the situation with platform crane parallel motion on beam is the example explanation, but self-evidently also can be fixed on the hoisting crane body, use in the hoisting crane under making hoisting crane body situation of movement at the rope resting point that will hang load.In this case, replace the chassis that moves, the effect identical with the chassis situation of movement also can be arranged by moving of body.
In addition, though above explanation is to be applicable to that the container handling hoisting crane is the example explanation, even for the hoisting crane that loads and unloads other goods, to the " loaded " position stack goods time, carry out cargo-carring situation and be suitable for too in the mode that can detect the load position relation of hanging load and having placed.
Below, with loading control method of the present invention and load the situation that control setup is used for transshipment crane and describe as an embodiment.Fig. 4 is the integral structure view of the transshipment crane of present embodiment.This transshipment crane is as the wheeled bridge shape hoisting crane of layer Stuff (to), has the portal crane that travels on the trackless road surface by running gear system 11 body 10 that travels.On travelling the horizontal upper part beam 12 of body 10, hoisting crane is provided with the chassis 13 that traverses that moves with horizontal direction along top beam 12.
Be provided with bont 14 on the chassis 13 that traverses, bont 14 is hung the suspender 16 that freight container is used by the lifting rope 15 of reeling, decontroling.But suspender 16 can be made to hanging the freight container Ca of load by the clutch twelve Earthly Branches.
Fig. 5, Fig. 6 have represented an embodiment of position control in the control system of above-mentioned transshipment crane and the hoisting crane of the present invention.Transshipment crane comprises: chassis position detecting device 24, and it is by horizontal driving the traverse motor 20 and be connected rotary encoder on this motor etc. and constitute of the chassis of coaster 13 that traverses; Hoisting depth detector 26, it is by the lifting motor 22 that drives bont 14 and be connected rotary encoder on this motor etc. and constitute.
In addition, be provided with spreader position detecting device 25 in transshipment crane, it is used to detect the relative position (teeter) of horizontal surface direction of coaster 13 and suspender 16 of traversing.Spreader position detecting device 25 fixedly is assemblied on the chassis 13 that traverses and has ccd video camera 25A, this pick up camera is used to take the suspender target label 25B (referring to Fig. 4) as being arranged on the shooting target on the suspender 16, and described spreader position detecting device 25 can also detect suspender 16 by the camera data (suspender target label detected image signal) of ccd video camera 25A with respect to the relative position (teeter) of the horizontal surface direction of the chassis 13 that traverses.
By by chassis motor driver 21, promote electric power control that motor driver 23 produces respectively to the chassis motor 20 that traverses, promote motor 22 and carry out drive controlling, these actuating devices 21,23 can produce chassis speed command signal and descending speed command signal respectively by crane controller 30.
Crane controller 30 has the prediction arithmetic and logic unit 31 of prediction computing suspender 16 teeters, hangs load position controller 32, falls to putting temporal calculation device 33, fall delay time determiner 34 and descending speed determiner 35.
The following parameter of input in prediction arithmetic and logic unit 31: by chassis position detecting device 24 detected chassis positions, carry out the chassis speed of differential gained by 36 pairs of described chassis position signals of differentiator, swing displacement by spreader position detecting device 25 detected suspenders 16 (hanging freight container), swing the instruction that displacement signal carries out the swing speed of differential gained and hangs the chassis of load position controller 32 outputs by 37 pairs of differentiators, and with the level attitude variation (teeter) of these parameters as the suspender 15 of variable prediction computing under the state that freight container Ca is hung on the suspender 16.
At this, specify prediction arithmetic and logic unit 31 example of structure with reference to Fig. 7.
In Fig. 7, shown the inner structure of the prediction arithmetic and logic unit of in Fig. 5 and Fig. 6, putting down in writing 31 with the part that is numbered 31 dotted line.The incoming signal and the output signal that correspond respectively to the arithmetic and logic unit 31 shown in Fig. 5 and Fig. 6 at the incoming signal and the output signal of the prediction arithmetic and logic unit 31 shown in Fig. 7.
In addition, prediction arithmetic and logic unit 31 is by simulation initial value configuration part 31-1 in Fig. 7, transshipment crane structure, chassis drive, lifting rope system model 31-2 (being called hoisting crane operating mode model later on), and the swing peak value test section 31-3 (being called the peak value test section later on) of analog result and spreader position controlling models 31-4 constitute.
Because hoisting crane operating mode model 31-2 is according to the chassis speed setting, with chassis position and speed by various detector inputs, the instrumentation value of suspender horizontal displacement (swing) and velocity of displacement (swing speed) etc. is as initial value, hang the horizontal direction displacement of load by simulation and carry out computing, therefore, can make the structure of hoisting crane, mechanical device, the operating mode modelling of lifting rope etc.
Spreader position controlling models 31-4 is simulation contained model of hanging load position controller 32 operating modes in crane controller 30, and contained gain constant K1 and K2 equal K1 (38) and the K2 (39) among Fig. 5 in this model 31-4.
Combination hoisting crane operating mode model 31-2 and spreader position controlling models 31-4, under the former situation of detection signal of stating chassis position etc., hang position displacement and the speed of position displacement and the prognosis modelling of chassis position of load (freight container) as initial value control desk vehicle speed.Described analog result be from obtain aforementioned initial value the time be carved into after time necessary, be that prediction is hung load (freight container) position and reached the time series data that load (freight container) position is hung in prediction during the maximum amplitude of oscillation at least.In addition, other analog result is the chassis change in location during aforementioned.
Swing peak value test section 31-3 detects the maximum amplitude of oscillation by the time series data of hanging load (freight container) position as the prediction of aforementioned analog result, and with its output.Obtain chassis alternate position spike as this output and analog result, form in crane controller 30 contained hang load position controller 32 hang load (freight container) Place object value.Promptly in chassis position prediction value, simulating the cooresponding value of the maximum amplitude of oscillation of acquisition together as the setting value of hanging load position controller 32 with green phase by the analog result gained.
Described operating among Fig. 2 is equivalent to the necessary chassis amount of movement that calculated by (S62-S61), hangs that load position controller 32 is controlled so that the lifting rope supporting-point position on the chassis moves to and the cooresponding differential location of maximum amplitude of oscillation place.
Fall to putting temporal calculation device 33 and calculate, and calculate from hanging the Load Control finish time of time (falling to the putting the time) Ts when falling to putting by the descending speed that carries out the differential gained by 40 pairs of described hoisting depths of differentiator by hoisting depth detector 26 detected hoisting depths.
Fall delay time determiner 34 is in the time series data by prediction arithmetic and logic unit 31 input prediction spreader position, fall to putting time T s by falling to putting 33 inputs of temporal calculation device, and as shown in the figure, determining to hang freight container Ca by these data in the moment that the horizontal direction position displacement (teeter) of hanging freight container Ca becomes the maximum amplitude of oscillation falls to being placed on and hangs load fall delay time Δ T on the object set vanning Cb.
Descending speed actuator 35 is determined descending speed (decelerating behavior) according to hanging load fall delay time Δ T, and to promoting motor driver 23 output descending speed instructions.By setting decelerating behavior, in descending speed control operation, speed is reduced to regulation descending speed (minimum speed near zero) when falling to putting with hanging the relevant moderating ratio of load fall delay time Δ T.
Then, the container layers of being undertaken by the crane controller 30 with said structure being pretended industry describes.At first, by prediction arithmetic and logic unit 31, prediction and calculation is being hung the horizontal direction position displacement (teeter) that freight container Ca hangs the suspender 16 under the state on the suspender 16.Afterwards as hanging load position control operation, only with prediction fall to putting the time horizontal direction position displacement (lateral oscillations momentum) S51 of suspender 16 with respect to targeted containers Cb out-of-position position as hanging load position expected value (chassis stop position), locate for the chassis 13 that traverses and it stopped by hanging load position controller 32.In addition, hang the load position control section, end pendulum control with positioning control at this.
After hanging load position control end, when the chassis 13 that traverses stops, then beginning to carry out descending speed control operation.In descending speed control operation, carry out the deceleration control of the descending speed of suspender 16, control the finish time (current time of Fig. 3) by hanging load position, through by fall to putting temporal calculation device 33 calculates fall to putting time T s and the fall delay time Δ T that determines by fall delay time determiner 34 after, hang freight container Ca and fall to being placed on the targeted containers Cb with the reduction of speed degree that falls to putting down of regulation.
Described fall to putting regularly with hang the fall delay time, Δ T fell to putting the time suspender 16 the position displacement (teeter) of horizontal direction become moment of the maximum amplitude of oscillation, make the freight container Ca that hangs of suspender 16 fall to being placed on the targeted containers.When falling to putting, when carrying out up and down freight container level attitude consistency detection with the maximum amplitude of oscillation, because the teeter speed when the teeter of suspender 16 becomes maximum is zero, thereby hanging freight container Ca can serve as that zero speed falls to putting with teeter speed.Therefore needn't wait for there is not teeter when falling to putting, the work that also need not crane driver just can be carried out more efficiently suitable falling to putting in permissible value in the horizontal deflection of freight container up and down.
In addition, in the above-described embodiments, though by chassis position, chassis speed, swing displacement, swing speed, chassis speed command prediction computing the teeter of suspender 16, but this prediction computing also can add the information of hoisting depth and hang the information of load weight, thereby can predict computing with high precision more.
As mentioned above, loading control method and loading control setup according to hoisting crane of the present invention, can predict the suspender teeter of the state on the suspender that container crane is hung over, because the maximum of the suspender teeter when the swing speed of suspender is zero constantly falls to putting, therefore needn't wait for not having teeter just can carry out suitable falling to putting.In addition, by only with prediction fall to putting the time aforementioned suspender the lateral oscillations momentum chassis is positioned and makes it stop with respect to targeted containers out-of-position position as the stop position of chassis, the work that need not crane driver just can be carried out effectively suitable falling to putting in permissible value at the horizontal-shift of freight container up and down, thereby can realize the automation of container layers dress.
In other words, in the present invention, even hoisting crane that camera body structure rigidity is lower or the wheeled hoisting crane that travels are such, under the situation about changing because of body deformation, swing in the chassis position of lifting rope and not the lifting rope system as under the situation of simple harmonic motion, also can fall to putting accurately, and realize to shorten and fall to putting falling to putting and loading control of required time.Therefore, provide and to have realized the automation of high efficiency hoisting crane, and improved falling to putting, load control method and loading control setup of handling efficiency by the work that alleviates crane driver.
Claims (6)
1, a kind of loading control method of hoisting crane comprises: the chassis that moves in the horizontal direction; Suspender, described suspender is hung oneself down from described chassis by lifting rope, and realizes lifting by coiling, the relieving of the described lifting rope that produced by bont, it is characterized in that:
Predict the periodicity displacement of described suspender level attitude, control the descending speed of described suspender, carry out suspender or hang load fall to putting, become the maximum moment in the amplitude of oscillation of described periodicity displacement, make described suspender or the load of hanging that is clamped on this suspender falls to being placed on and loads on the target location.
2, a kind of loading control method of hoisting crane comprises: the chassis that moves in the horizontal direction; Suspender, described suspender is hung oneself down from described chassis by lifting rope, and realizes lifting by coiling, the relieving of the described lifting rope that produced by bont, it is characterized in that, comprising:
Hang load position control operation, it predicts the periodicity displacement of described suspender level attitude, with the relative out-of-position position, target location of loading with the cooresponding amount of the maximum amplitude of oscillation of described periodicity displacement as the chassis stop position, give described chassis location and it stopped;
Hang load descending speed control operation, it controls the descending speed of described suspender, carry out suspender or hang load fall to putting, become the maximum moment in the amplitude of oscillation, so that the described suspender or the load of hanging that is clamped on this suspender fall to being placed on and loads on the target location by the periodicity displacement of the suspender level attitude of described prediction.
3, the loading control method of hoisting crane as claimed in claim 1 or 2, it is characterized in that: detect speed command, the suspender of level attitude velocity of displacement, the chassis of level attitude displacement, the suspender of moving velocity, the suspender of shift position, the chassis of exclusive disjunction chassis hoisting depth, hang the load weight data
For at least one or the combination of these data in the above data, utilize by predicting the level attitude displacement of the described suspender of computing with the simulation model that constitutes that the driver train of hoisting crane structure, chassis and control, lifting rope are hung at least one key element in the relevant key element of the level attitude displacement of load or these key elements.
4, a kind of loading control setup of hoisting crane is characterized in that, comprising:
The chassis that moves in the horizontal direction;
Suspender, it is hung oneself down from described chassis by lifting rope, and realizes lifting by coiling, the relieving of the described lifting rope that produced by bont;
The prediction and calculation device, it predicts the periodicity displacement of described suspender level attitude;
Maximum arithmetical device constantly, its amplitude of oscillation that calculates described periodicity displacement becomes the maximum moment;
Hang load descending speed control setup, it controls the descending speed of described suspender, carry out suspender or hang load fall to putting, make described suspender or the load of hanging that is clamped on this suspender falls to being placed on to load on the target location.
5, a kind of loading control setup of hoisting crane is characterized in that, comprising:
The chassis that moves in the horizontal direction;
Suspender, it is hung oneself down from described chassis by lifting rope, and realizes lifting by coiling, the relieving of the described lifting rope that produced by bont;
The prediction and calculation device, it predicts the periodicity displacement of described suspender level attitude;
Maximum amplitude of oscillation arithmetical device, it calculates the maximum amplitude of oscillation of described periodicity displacement;
Hang the load position control setup, it is with the relative stop position that loads out-of-position position, target location as chassis with the cooresponding amount of its maximum amplitude of oscillation, with described chassis location and it is stopped;
Maximum arithmetical device constantly, its amplitude of oscillation that calculates the periodicity displacement of described level attitude becomes the maximum moment;
Hang load descending speed control setup, it controls the descending speed of described suspender, carry out suspender or be clamped on this suspender hang load fall to putting so that the described suspender or the load of hanging that is clamped on this suspender fall to being placed on to load on the target location.
6, loading control setup as claim 4 or 5 described hoisting cranes, it is characterized in that: also comprise: the location computing device that calculates the shift position of chassis, calculate the speed arithmetical device of the moving velocity of chassis, calculate the displacement arithmetical device of the level attitude displacement of suspender, calculate the velocity of displacement arithmetical device of the level attitude velocity of displacement of suspender, calculate the speed command arithmetical device of the speed command of chassis, calculate the height arithmetical device of the hoisting depth of suspender, calculate the loading arithmetical device of the weight of hanging load, for described shift position, described moving velocity, described displacement, described velocity of displacement, described speed command, in in described hoisting depth and the described loading at least one, calculate by with crane structure, chassis driver train and control, the model calculation device of the simulation model of at least one formation in the key element that the level attitude displacement of hanging load of lifting rope is correlated with
Described prediction and calculation device comes the level attitude displacement of the described suspender of prediction and calculation by described simulation model.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001036015A JP2002241079A (en) | 2001-02-13 | 2001-02-13 | Stacking control method and device for crane |
| JP036015/01 | 2001-02-13 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1375445A CN1375445A (en) | 2002-10-23 |
| CN1313353C true CN1313353C (en) | 2007-05-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB021186847A Expired - Fee Related CN1313353C (en) | 2001-02-13 | 2002-02-13 | Loading control method and apparatus for crane |
Country Status (8)
| Country | Link |
|---|---|
| US (1) | US6644485B2 (en) |
| EP (1) | EP1231178A3 (en) |
| JP (1) | JP2002241079A (en) |
| KR (1) | KR100427957B1 (en) |
| CN (1) | CN1313353C (en) |
| HK (1) | HK1047571B (en) |
| SG (1) | SG115447A1 (en) |
| TW (1) | TW593120B (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10245889B4 (en) * | 2002-09-30 | 2008-07-31 | Siemens Ag | Method and / or device for determining a pendulum of a load of a hoist |
| DE10245970B4 (en) * | 2002-09-30 | 2008-08-21 | Siemens Ag | Method and device for detecting a load of a hoist |
| JP3935826B2 (en) * | 2002-11-15 | 2007-06-27 | 三菱重工業株式会社 | Loading load control method and control device, and cargo handling machine |
| US7289875B2 (en) * | 2003-11-14 | 2007-10-30 | Siemens Technology-To-Business Center Llc | Systems and methods for sway control |
| DE102008024215B4 (en) * | 2008-05-19 | 2015-08-20 | Manitowoc Crane Group France Sas | Determination and reconstruction of load changes on hoists |
| CN101857175B (en) * | 2010-05-26 | 2012-01-04 | 安徽英科智控股份有限公司 | Control system of limit load of container reach stacker |
| CN103309275B (en) * | 2013-06-06 | 2016-02-03 | 洛阳涧光特种装备股份有限公司 | A kind of remote operating control system of delayed coking overhead traveling crane |
| US9278832B2 (en) * | 2013-11-26 | 2016-03-08 | Institute Of Neclear Energy Research | Method of reducing computational demand for image tracking |
| CN108217487A (en) * | 2017-12-08 | 2018-06-29 | 上海辛格林纳新时达电机有限公司 | The hoisting system and control method of suspender |
| CN108584716B (en) * | 2018-05-04 | 2024-02-13 | 蛇口集装箱码头有限公司 | Portal crane safety protection and operation auxiliary system |
| CN113526363B (en) * | 2020-03-30 | 2023-06-16 | 杭州国电大力机电工程有限公司 | Cable crane |
| CN112010177B (en) * | 2020-08-31 | 2022-04-29 | 上海驭矩信息科技有限公司 | Automatic container landing method for ground containers in storage yard |
| CN116615701A (en) * | 2020-12-24 | 2023-08-18 | 松下知识产权经营株式会社 | Motor control device |
| CN113479773B (en) * | 2021-05-24 | 2023-11-24 | 武汉港迪智能技术有限公司 | Dynamic lowering method for container lifting appliance |
| CN116296517B (en) * | 2023-05-08 | 2023-07-25 | 四川经准特种设备检验有限公司 | Lifting machinery comprehensive performance detection device and detection method |
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| CN1199380A (en) * | 1995-10-12 | 1998-11-18 | 小沃尔特·J·沃勒斯 | Method and apparatus for controlling crane |
| EP0958228A1 (en) * | 1995-11-14 | 1999-11-24 | Sime Oy | Method and device to pick up, transport and put down a load |
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| FR2645846B1 (en) * | 1989-04-14 | 1991-10-04 | Reel Sa | DEVICE FOR CONTROLLING THE POSITION AND OSCILLATIONS OF A SUSPENDED LOAD DURING ITS TRANSFER USING A LIFTING APPARATUS |
| US4997095A (en) * | 1989-04-20 | 1991-03-05 | The United States Of America As Represented By The United States Department Of Energy | Methods of and system for swing damping movement of suspended objects |
| SE502609C2 (en) * | 1990-03-28 | 1995-11-20 | Asea Brown Boveri | Moving of goods with container cranes |
| FR2701467B1 (en) * | 1993-02-12 | 1995-05-12 | Caillard | Control system for controlling the speed of movement of a pendulum load and lifting device comprising such a system. |
| US5443566A (en) * | 1994-05-23 | 1995-08-22 | General Electric Company | Electronic antisway control |
| JP3229222B2 (en) * | 1996-10-23 | 2001-11-19 | 三菱重工業株式会社 | Crane suspended load control device |
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- 2001-02-13 JP JP2001036015A patent/JP2002241079A/en active Pending
-
2002
- 2002-01-30 TW TW091101582A patent/TW593120B/en not_active IP Right Cessation
- 2002-02-05 SG SG200200665A patent/SG115447A1/en unknown
- 2002-02-07 US US10/067,313 patent/US6644485B2/en not_active Expired - Fee Related
- 2002-02-08 KR KR10-2002-0007460A patent/KR100427957B1/en not_active IP Right Cessation
- 2002-02-13 CN CNB021186847A patent/CN1313353C/en not_active Expired - Fee Related
- 2002-02-13 EP EP02003104A patent/EP1231178A3/en not_active Withdrawn
- 2002-12-18 HK HK02109173.8A patent/HK1047571B/en not_active IP Right Cessation
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| CN1199380A (en) * | 1995-10-12 | 1998-11-18 | 小沃尔特·J·沃勒斯 | Method and apparatus for controlling crane |
| EP0958228A1 (en) * | 1995-11-14 | 1999-11-24 | Sime Oy | Method and device to pick up, transport and put down a load |
Also Published As
| Publication number | Publication date |
|---|---|
| US6644485B2 (en) | 2003-11-11 |
| CN1375445A (en) | 2002-10-23 |
| EP1231178A3 (en) | 2009-04-29 |
| TW593120B (en) | 2004-06-21 |
| HK1047571A1 (en) | 2003-02-28 |
| JP2002241079A (en) | 2002-08-28 |
| HK1047571B (en) | 2007-08-24 |
| US20020108919A1 (en) | 2002-08-15 |
| SG115447A1 (en) | 2005-10-28 |
| KR100427957B1 (en) | 2004-05-06 |
| KR20020066995A (en) | 2002-08-21 |
| EP1231178A2 (en) | 2002-08-14 |
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